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Design and Development of a Semi-Autonomous Stair Climbing Robotic Platform For Rough Terrains
Muhammad Umar Masood,Muhammad Ahsan Sami,Haris Sohail,Muhammad Mujtaba,Muhammad Abubakar Siddique,Hashir Akram,Nasir Rashid,Mohsin I. Tiwana,Javaid Iqbal 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper presents the design of a stair climbing fixed flipper unmanned ground vehicle (UGV) for urban search and rescue purposes. Mobile flippers are being used in certain UGVs for enhanced mobility in rough terrains, however, the control algorithm of these platforms is complex. To add this enhanced mobility in the UGV and to reduce the intricacy of the control algorithm, anterior end of the tracks are lifted up which enables the UGV to pass over obstacles with relative ease. To prevent the rollover of UGV while moving on an inclined surface, an image processing algorithm was developed which halts the motion of UGV if the calculated slope exceeds the threshold value with a maximum error of about 8%. Furthermore, left and right track velocities along with the turn radius were also calculated.
Muhammad Ahsan Sami,Muhammad Umar Masood,Muhammad Waqar,Muhammad Mujtaba,Abrahim Ali Shah,Nasir Rashid,Mohsin I. Tiwana,Javaid Iqbal,Adnan Shujah 제어로봇시스템학회 2017 제어로봇시스템학회 국제학술대회 논문집 Vol.2017 No.10
This paper presents an application of a novel approach for detecting and tracking an object with a 2 DOF robotic manipulator which can be equipped with an array of electrically controlled actuators. The said approach utilizes the Image Based Visual Servoing (IBVS) technique. The developed system is able to determine the object pose in real time from features in the image. Object is detected using shaped based approach algorithms of image processing. The position and orientation of the world coordinates of the object being tracked are calculated from the coordinates of the object in image plane using camera’s intrinsic and extrinsic parameters. Experimental results demonstrate the effectiveness of this proposed approach.
Natural Language Processing and Machine Linguistic Interpretation
Muhammad Umar Nasir,Ahmad Arsalan,Muhammad Zahid Hussain,Arif Wicaksono Septyanto 한국차세대컴퓨팅학회 2021 한국차세대컴퓨팅학회 학술대회 Vol.2021 No.11
Natural language processing, as an integral part of artificial intelligence technology, has foundations in a variety of disciplines, including linguistics, computer science, and mathematics. Rapid advances in natural language processing provide solid backing for machine translation research. This document first sets out the key concepts and key points of computational linguistics, followed by a brief review of the history and progress of NLP research in the United States and abroad. The document then summarizes the three stages of machine translation as well as the current state of research. Historically, the advancement curves of natural language processing and machine translation have almost coincided, as well as the two complement each other. On this premise, the paper examines NLP applications in machine translation and highlights problems and trends in the fields of artificial intelligence. Finally, the authors examine the link between machine translation and human interpretation in the era of artificial intelligence and speculate on machine translations long term prospects.
Development of FPGA-based system for control of an Unmanned Ground Vehicle with 5-DOF Robotic Arm
Abdullah Afaq,Mohammad Ahmed,Ahmed Kamal,Umar Masood,Muhammad Shahzaib,Nasir Rashid,Mohsin Tiwana,Javaid Iqbal,Asadullah Awan 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper discusses the development of a customizable FPGA based system for implementing control algorithms on an Unmanned Ground Vehicle (UGV) and its 5 Degree of Freedom (DOF) manipulator. The compact RIO-9012 is used as a controller which is a reconfigurable embedded control and acquisition system using LabVIEW as the programming platform. The developed system enables the control of UGV and its manipulator using a remote joystick controller via Wi-Fi communication. Apart from Joystick, the system can also be controlled optionally using a keyboard. Accuracy of Joystick control has been enhanced by using point to point mapping technique. A user friendly GUI has been developed to view live video feedback obtained from the onboard cameras to control the UGV accordingly. Different features of UGV like path tracker (tracks its path on Google Maps), variable speed modes, battery indicator, camera switch and selector etc. are also managed in the GUI. The system has been developed so that, in future, it can easily be extended to a fully autonomous system.